This software provides methods for kino-dynamic optimization for multiped robots. It contains a list of solvers and optimization problem for robotics optimal control.
Please make sure to install the following packages:
- the qp solver quadprog and the code manager
pip install quadprog treep
And catkin: https://docs.ros.org/api/catkin/html/
- Ubuntu
sudo apt-get install [ros-distro]-catkin
- From source
mkdir devel
cd devel
git clone https://github.com/ros/catkin.git
cd catkin
mkdir _build
cd _build
cmake ..
make
sudo make install
Clone the repository in the desired work folder <work_folder>
mkdir devel
cd devel
git clone git@git-amd.tuebingen.mpg.de:amd-clmc/treep_amd_clmc.git
git clone git@github.com:machines-in-motion/treep_machines_in_motion.git
treep --clone KINO_DYN_PLANNER
This operation should have cloned pacakges in workspace/src/ which will be
refered as the <work_folder>
Compile the code, by running the following commands in the <work_folder>
cd workspace
catkin_make -DCMAKE_BUILD_TYPE=RELEASE
Once the code has been compiled, you can source the setup.bash file in
devel/workspace/devel/setub.bash
source ./devel/setup.bash
cd <work_folder>/catkin/control/momentumopt/demos
python3 ../nodes/kino_dyn_planner_solo -i <path_to_config_file>
For example plan and execute a jumping motion with
python3 ../nodes/kino_dyn_planner_solo -i ../config/cfg_solo_jump.yaml
alternatives:
python2 ../nodes/kino_dyn_planner_solo -i ../config/cfg_solo_jump.yaml
rosrun momentumopt kino_dyn_planner_solo -i ../config/cfg_solo_jump.yaml
The different configuration files are available in
<work_folder>/kino-dynamic-opt/src/catkin/motion_planning/momentumopt/config
The available motions are:
- Squatting: cfg_quadruped_squatting.yaml
- Lifting one leg: cfg_quadruped_lift_leg.yaml
- Lifting rear legs: cfg_quadruped_lift_rear.yaml
- Jump: cfg_solo_jump.yaml
For an explanation of the different settings in the configuration files, refer to cfg_solo_jump.yaml.
Furthermore, there is a kinematic optimization over a horizon available, which allows for smoother trajectories, by running
cd <work_folder>/kino-dynamic-opt/src/catkin/motion_planning/momentumopt/demos
python3 ./PyDemoMomentumoptNew.py -i <path_to_config_file>
For example plan and execute lifting the rear leg motion with
python3 ./PyDemoMomentumoptNew.py -i ../config/cfg_demo01_twofeet.yaml
The available motions are:
- Lifting rear legs: cfg_demo01_twofeet.yaml
Executing
python3 ../nodes/kino_dyn_planner_solo -i <path_to_config_file>
automatically saves the quadruped_positions.dat and the quadruped_velocities.dat files in the <work_folder>/kino-dynamic-opt/src/catkin/motion_planning/momentumopt/demos directory. These files can then be supplied to dynamic graph and for example executed on the real robot.
Copyright (c) 2019, New York University and Max Planck Gesellschaft.
- Brahayam Ponton (bponton@tue.mpg.de) (1)
- Majid Khadiv (mkhadiv@tuebingen.mpg.de) (1)
- Julian Viereck (jviereck@tuebingen.mpg.de) (1)
- Avadesh Meduri (am9789@nyu.edu) (1-2)
(1): Max Planck Institute for Intelligent System, Tubingen, Germany
(2): New York University, New York, USA